Kinematic and Dynamic Analysis of the 2-DOF Spherical Wrist of Orthoglide 5-axis

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dc.creatorUr-Rehman, Raza
dc.creatorCaro, Stéphane
dc.creatorChablat, Damien
dc.creatorWenger, Philippe
dc.date2009-04-01
dc.date.accessioned2026-07-07T12:59:03Z
dc.date.available2026-07-07T12:59:03Z
dc.descriptionThis paper deals with the kinematics and dynamics of a two degree of freedom spherical manipulator, the wrist of Orthoglide 5-axis. The latter is a parallel kinematics machine composed of two manipulators: i) the Orthoglide 3-axis; a three-dof translational parallel manipulator that belongs to the family of Delta robots, and ii) the Agile eye; a two-dof parallel spherical wrist. The geometric and inertial parameters used in the model are determined by means of a CAD software. The performance of the spherical wrist is emphasized by means of several test trajectories. The effects of machining and/or cutting forces and the length of the cutting tool on the dynamic performance of the wrist are also analyzed. Finally, a preliminary selection of the motors is proposed from the velocities and torques required by the actuators to carry out the test trajectories.
dc.identifierhttps://arxiv.org/abs/0904.0145
dc.identifierhttp://arxiv.org/abs/0904.0145
dc.identifierTroisième Congrès International. Conception et Modélisation des Systèmes Mécaniques, Hammamet : Tunisie (2009)
dc.identifier.urihttp://salesiana.dossiersoluciones.com/handle/123456789/225455
dc.subjectRobotics
dc.subjectClassical Physics
dc.titleKinematic and Dynamic Analysis of the 2-DOF Spherical Wrist of Orthoglide 5-axis
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